In historical terms, Salehurst is much older than its neighbour; before the bridge over the River Rother was built, it already existed, and it is named in the Domesday Book of 1086.

At the time, the river crossing was by ford or ferry, but in the 12th century, a newly established order of Cistercian monks constructed the bridge, and the two settlements of Robertsbridge and Northbridge Street came into being; eventually, since the main road now bypassed the village, they became much more important than Salehurst.

[2] In 1588, John Levett of Salehurst contributed to the Armada loan,[3] and in 1607, his sons John and Thomas of Salehurst were regranted by the College of Arms their right to the Levett coat of arms issued to their Sussex ancestors.

[4][5] John Colepeper, 1st Baron Colepeper (c. 1600–1660), was an English peer, military officer, and politician [6] who, as Chancellor of the Exchequer (1642–43) and Master of the Rolls (1643), was an influential counsellor of King Charles I during the English Civil War.

John Lord (1614–81) was rector from 1640 until his death; in 1937, his descendants donated to the church a portrait of him which had been owned by the family for generations.